Development of an amphibious robotic propulsor based on electroactive polymers
Development of an amphibious robotic propulsor based on electroactive polymers
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DOI：
10.1109/icara.2000.4803946
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发表时间：
2000-02
期刊：
影响因子：
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通讯作者：
L. A. Hirano;L. Martins-Filho;R. O. Duarte;José Fernando de Paiva
中科院分区：
文献类型：
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作者：
L. A. Hirano;L. Martins-Filho;R. O. Duarte;José Fernando de Paiva
本文介绍了一种用于水环境推进的机器人装置的方案。推进器是一种仿生系统，其特点是运动环境变化的效率和灵活性：无尾两栖动物的腿。这些动物非常适应在水中和陆地上移动。这种类型的运动需要基于标准电动机的传统解决方案难以提供的机构的特定特征。所提出的方法是基于离聚物聚合物-金属复合材料驱动器，构成一个系统，通常称为人工肌肉。本文介绍了无尾两栖动物运动建模，描述的电活性聚合物，实验生产过程和结果，并讨论了一些建设性的方面的第一个设备原型。
This paper presents the project of a robotic device for propulsion in aquatic environment. The propulsor is a biologically inspired system characterized by efficiency and flexibility for locomotion environment changing: the legs of anuran amphibious. These animals are exceptionally adapted to locomotion in water and land. This type of locomotion requires specific features of the mechanisms that are hardly provided by traditional solutions based on standard electric motors. The proposed approach is based on ionomeric polymers-metal composites drives, constituting a system commonly called artificial muscle. The paper presents the anuran locomotion modeling, a description of the electroactive polymers, the experimental production procedures and results, and also discusses some constructive aspects of a first device prototype.